A motor current sampling method, motor control method and device

Abstract

The invention relates to a motor current sampling method and a motor control method and device. The current sampling method comprises the steps that S41, according to one control cycle of a motor, sampling is initiated by one or more times at one or more preset moments; S42, motor current data is captured at the interval of a preset time ahead of each moment when sampling is initiated; and S43, anaverage current value of the motor current data captured in the control cycle is calculated. The motor control method comprises the steps that A, motor current sampling is performed to obtain a vector current; B, position sampling is performed on the motor through an encoder, a feedback position of the motor is obtained, and motor feedback speed is obtained through calculation; C, speed input parameters of the motor are calculated based on path planning; D, PID control is performed based on instruction speed and a converted instruction current; and E, a three-phase voltage used for controlling the motor is output through an output voltage component of a current ring PID processing module and an output quantity of a speed ring PID processing module.

Description

technical field [0001] The invention relates to a motor current sampling method, a motor control method and a device, and belongs to the field of motor electrical control. Background technique [0002] In the field of motor control technology, the outputs are all modulated by PWM. Therefore, in actual use, the current waveform of the motor presents a triangular wave. These triangular wave components, for motor control, belong to the harmonic range. There are two reasons: On the one hand, the current sampling device itself has a delay, and the output signal also needs to be filtered, resulting in a phase lag that cannot be accurately predicted. On the other hand, many drivers only have single-phase current sampling, and the three-phase current needs to be sampled in time-sharing and in turn, so it is impossible to accurately determine the sampling position. Therefore, there is an urgent need for a current sampling method to detect the current value as accurately as possibl...

AI Technical Summary

Problems solved by technology

There are two reasons: On the one hand, the current sampling device itself has a delay, and the output signal also needs to be filtered, resulting in a phase lag, which cannot be accurately predicted

On the other hand, many drivers only have single-phase current sampling, and the three-phase current needs to be sampled in time-sharing and in turn, so it is impossible to accurately determine the sampling position

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